EAS 3923 AEROSPACE LABORATORY III

(SATELLITE TECHNOLOGY)

SEMESTER II 2016/2017

SATELLITE ATTITUDE CONTROL

MAGNETOMETER
DATE OF EXPERIMENT: 09/03/2017

NAME : MUHAMMAD AKMAL AIMAN BIN ALIAS

MATRIC NUM. : 181051

LECTURER : DR. SYARIL AZRAD BIN MD ALI

DEMONSTRATOR : MR. MUHAMMAD RIJALUDDIN BAHIKI

TECHNICIAN : MR. HERMI OTHMAN

1. OBJECTIVES

1. To explain the working principle of magnetometer and its application in attitude

determination.
2. To construct a navigational magnetometer system, which includes constructing a program
to control your magnetometer.
3. To analyze measurements from magnetometer.

2. INTRODUCTION

Briefly, a technical perspective has been reviewed on the manual datasheet of an equipment
named as 3-Axis Digital Compass IC HMC5883L, that is engineered and manufactured by
Honeywell Inc., which was generally discussed before performing this experiment of
Satellite Attitude Control Magnetometer, to fulfil the prerequisites syllabus in EAS3923
Aerospace Laboratory 3. The Honeywell HMC5883L is physically a surface-mount, multi-
chip module designed for low-field magnetic sensing with a digital interface for applications
such as low-cost compassing and magnetometry. Plus, the HMC5883L includes
Honeywells state-of-the-art, high-resolution HMC118X series magneto-resistive sensors
plus an ASIC containing amplification, automatic degaussing strap drivers, offset
cancellation, and a 12-bit ADC that enables 1 to 2 compass heading accuracy. Whilst, the

I2C serial bus allows for easy interface. The HMC5883L is also a 3.0 3.0 0.9 mm

surface mount 16-pin leadless chip carrier (LCC) as shown in Fig. 1 below. Hence,
applications for the HMC5883L include mobile phones, netbooks, consumer electronics,
auto-navigation systems, and personal navigation devices. In addition, the HMC5883L
utilizes Honeywells Anisotropic Magnetoresistive (AMR) technology that provides
advantages over other magnetic sensor technologies. These anisotropic, directional sensors
feature precision in-axis sensitivity and linearity. These sensors solid-state construction
with very low cross-axis sensitivity is designed to measure both the direction and the
magnitude of Earths magnetic fields, from milli-gauss to 8-gauss. Thus, Honeywells
Magnetic Sensors are among the most sensitive and reliable low-field sensors in the
industry.
 Fig. 1: Triple-Axis Magnetometer (Compass)

To be specific, the basic device operations for this magnetoresistive sensor circuit is a trio of
sensors and its application specific support circuits to measure magnetic fields. With power
supply applied, the sensor converts any incident magnetic field in the sensitive axis
directions to a differential voltage output. The magnetoresistive sensors are made of a
nickel-iron (Permalloy) thin-film and patterned as a resistive strip element. In the presence
of a magnetic field, a change in the bridge resistive elements causes a corresponding change
in voltage across the bridge outputs. These resistive elements are aligned together to have a
common sensitive axis indicated by arrows as shown in Fig. 2 on the device that will
provide positive voltage change with magnetic fields increasing in the sensitive direction of
x-axis and y-axis. Because the output is only proportional to the magnetic field component
along its axis, additional sensor bridges are placed at orthogonal directions to permit
accurate measurement of magnetic field in any orientation including z-axis.
 Fig. 2: Arrow Indicates Direction of Magnetic Field that Generates a Positive Output
Reading in Normal Measurement Configuration

In this hands-on experiment, the breakout board can be hooked up to a number of

microcontrollers, as long as they have an I2C interface. This breakout board includes the
HMC5883 sensor and all filtering capacitors necessary which then fitted into a breadboard
as shown in Fig. 3 below. Consequently, communication with the HMC5883 is simple and
all done through an I2C interface.

Fig. 3: The Common Connections for Arduino Interface

3. THEORY

Theoretically, in this practical experiment, the Earths magnetic field resembles that of a
simple bar magnet. This magnetic dipole, as depicted in Fig. 4(a) below, has its field lines
originating at a point near the South Pole and terminating at a point near the North Pole.
These points are referred to as the magnetic poles. These field lines vary in both strength
and direction about the face of the Earth. Those field lines points downward toward north at
some angle declination in degrees into the Earths surface. This angle is called the magnetic

angle of inclination ( ) and is shown in Fig. 4(b) below. The direction and strength of the

Earths magnetic field (He) can be represented by the three axis values H x, Hy, and Hz. The
Hx and Hy information can be used to determine compass headings in reference to the
magnetic poles.

Fig. 4: (a): Earths Magnetic Field. (b): Earths Field (He) in 3-Axis

As to determine the compass headings using a magnetometer, the device must be level to the
Earths surface, there should not be any ferrous materials interfering with the Earths field
and the declination angle must be known. Various tilt compensation circuits and techniques
can be used to normalize a magnetometer reading that is not level. There are also more
sophisticated algorithms to account for nearby ferrous materials to correct for their effect on
the Earths field. A compass heading can also be determined by using just the H x and Hy
component of the Earths magnetic field, that is, the directions planar with the Earths
surface. Hold the magnetometer flat in an open area and note the H x and Hy magnetic
readings varies as the magnetometer is rotated in a circle. Thus, the maximum value of H x
 and Hy depend on the strength of the Earths field at that point. As in this satellite attitude
control experimentation which using magnetometer, the spacecraft magnetometer is
preferably utilized as a lightweight, inexpensive sensor that is normally installed on every
LEO satellite. Hence, magnetometers are among the most widely used scientific instruments
in exploratory
and observation satellites. It is used to measure the strength and direction of magnetic field
lines around a planet or moon. Earth's magnetism varies from place to place due to differing
nature of rocks or the interaction between charged particles from the sun and the
magnetosphere. Therefore, in combination with a satellite position fix and International
Geomagnetic Reference Field (IGRF) model, magnetometers can be used to determine
satellite attitude.

4. APPARATUS & EQUIPMENT

1) A Triple Axis Magnetometer.

Fig. 5: A Compact, Surface-Mounted, Multi-Chip Module

2) Wiring Board or Breadboard

3) Arduino Circuit Board.
4) Four (4) wires of different color (1 yellow, 1 grey, 1 chocolate, 1 dark grey).
 Fig. 6: Wiring and Testing the Magnetometer Electronics Module

5) Magnet Bars and Magnetic Elements from Electronic Devices.

Fig. 6: Representations of Magnetic Elements

6) Workbench.

5. PROCEDURES

Part 1: Programing the Control of Magnetometer using Arduino Board.

1) Arduino programs are opened in the windows.
2) The template file prepared by instructor is loaded in the program.
3) Once the file seen in the window, the program is verified and compiled by clicking the
check button.
4) The code is uploaded to Arduino board.
5) The program is begun by selecting the serial monitor button of Arduino program
window.
 Fig. 7: Arduino Program Window Layout in a Workplace PC

Part 2: Analyzing Measurements from Magnetometers.

(a) Compare measurements of Earths magnetic field and regular magnetic elementa
magnet bar.
1) 6 boxes (3 3) are drawn and the Arduino board is placed inside each of the boxes

to measure the Earths magnetic field.

2) The early program that has been set is used to find the value of X-norm and Y-norm of
the magnetometer.
3) The X-value and Y-value is recorded for each box where the Arduino board has been
placed.
4) Using the same boxes a magnet bar is placed near the Arduino board and Step 3 is
repeated.
5) The data is recorded and tabulated appropriately.

(b) Analyze the relationship between magnetic field strength versus distance.
1) The Arduino board is fixed in one position and set up as in Fig. 8 below and the X-
norm and Y-norm are recorded.
2) The magnet bar is placed starting from 5cm from the board and the value of X-norm
and Y-norm are recorded.
3) Then, the magnet bar is moved according to an increment of 5cm from the board and
the value is recorded again until five readings are taken.
 Fig. 8: The Relationship Could be Determined by this Simple Setup

(c) Use magnetometer to determine orientation.

1) The Arduino board is calibrated and the calibrated value is taken for X-off and Y-off.
2) The Arduino board is placed at 0 from the edge of the table where X-axis as a
reference.
3) Then, the value of X-norm and Y-norm are taken.
4) Then, Steps 2 and 3 are repeated for 90, 180, and 270, respectively in anticlockwise
manner.

6. RESULTS

All the resulting data recorded are tabulated appropriately in Table 1 to 3. In Part 2(a), the
data tabulated are calculated in MATLAB in terms of Pythagorass theorem as represented
in the equation as in Fig. 4(b) above.

Table 1: Earths Magnetic Field without a Magnet Bar

X = 481.16 X = 475.64 X = 537.28
Y = -11051.84 Y = -1118.72 Y = -1088.36
X = 508.76 X = 497.72 X = 545.56
Y = -1067.20 Y = -1116.88 Y = -1095.72
X = 518.88 X = 503.24 X= 538.20
Y = -1082.84 Y = -1126.08 Y = -1108.60
X = 518.88 X = 517.04 X = 550.16
Y = -1090.20 Y = -1126.08 Y = -1084.68
Table 2: Earths Magnetic Field with a Magnet Bar
X = -361.56 X = -945.76 X = -3768.32
Y = -414 Y = -3768.32 Y = 1473.84
X = -3768.32 X = 125.12 X = -619.16
 Y = -3768.32 Y = -1486.72 Y = 530.84
X = 1621.96 X = 427.8 X= 87.40
Y = 906.2 Y = 173.88 Y = -31.28
X = -173.88 X = 520.72 X = 317.40
Y = 916.32 Y = -333.04 Y = -357.88
Fig. 9(a) & (b) below plotting the resulting data in the MATLAB, which presented a
graphical representations of the Earths magnetic field resultant vectors in both conditions.

Fig. 9: (a): Earths Magnetic Field without a Magnet Bar Resultant Vector. (b): Earths Magnetic
Field with a Magnet Bar Resultant Vector

On the other hand, in Part 2(b), specifically, the setup of the experiment is done
independently, as to measure the strength of the magnetic field (X-norm and Y-norm) in
variance to the distances, whereas the distance is in centimeter, cm, unit.

Table 3: The Relationship of Magnetic Field Strength Versus Distance

Distance (cm) X-norm Y-norm
5 -3768.32 -17.48
10 -1260.4 -777.4
15 89.24 -1002.8
20 412.16 -1046.04
25 775.56 -1073.64
30 721.8 -1072.72
As the X-axis being the reference plane of the magnetometers orientation, Fig. 10 below
depicting the arrows indicating the orientation by the magnetometer capability.
 X = 34.96
Y = -1117.8

X = -183.08 X = 615.48
Y = -451.72 Y = -922.76

X = 434.24
Y = -335.8

7. DISCUSSIONS AND QUESTIONS

The magnetic fields and current go hand-in-hand. When current flows through a wire, a
magnetic field is created. This is the basic principle behind electromagnets. This is also the
principle used to measure magnetic fields with a magnetometer. The direction of Earth's
magnetic fields affects the flow of electrons in the sensor, and those changes in current can
be measured and calculated to derive a compass heading which leads to a satellites attitude
determination with control or other useful information. Whilst, other form of external
disturbance like the magnetic element of the regular magnet bar could directly interferes
with the magnetic field readings of its X-norm and Y-norm of the magnetometer. Hence, this
disturbance phenomena should be precisely illustrated as in Fig. 9(a) & (b) above. Besides
that, whilst performing this experiment, hands-on, human error still is a factor that cannot be
avoided as the varies distances in cm is not well-fixed using hands only. In observation, the
resulting data is not quite accurate due to errors regarding others interference of the
magnetic field waves. So, keep out some range of distance from any electromagnetic field
possessing equipment like cellphone, or even metal, which could disturb the magnetic field
waves too. Furthermore, calibration is a crucial way to acquire accurate results, from the
compatible Arduino programming software tool.

1) From the resulting data acquired from the experiment in Part 2(b), Table 3 tabulating the
relationship between the magnetic field strength of an object versus the distance of the
object that can be described mathematically as the longer the distance of the
magnetometer from the magnet bar, the weaker its magnetic fields. Therefore, when the
magnet bar distance is increased away from the compass heading, the reading will be
pointing to the Earths North Pole rather than deviating few degrees away.
2) From the observation of the experiment, the working principle of the magnetometer in
space navigation is described as it is suitable for application involving part of a coarse
attitude determination system on LEO mission spacecraft as the 3-axis magnetometer
measures the magnetic field and provides readings from 3 sensors arranged in orthogonal
axes, which is in three-dimensional Cartesian coordinates (x, y, z). The readings almost
accurate for attitude determination as the compass reading referring to the Earths North
Pole. Thus, it can also be used in combination with a satellite position fix and
International Geomagnetic Reference Field (IGRF) model to determine satellite attitude.
3) A proton magnetometer is also regarded as Proton Precession Magnetometer (PPM) is
one of the most accurate devices that can be built for measuring magnetic fields. A PPM
takes advantage of the fact that protons have an intrinsic magnetic field which also
orientated randomly, much like an exceedingly small magnet. Whereas, when the protons
are placed in an external magnetic field or applied the magnetic field, H 0, the direction of
their field will precess (rotate) about the direction of the external field, aligning itself
parallel (spin up) or anti-parallel (spin down) as shown in Fig. 10. The frequency of
precession is directly proportional to the strength of the external field. The proportionality
constant, called the gyromagnetic ratio of the proton which presenting the strength of the
magnetic field, is known to a very high degree of accuracy. When enough protons are
precessing in sync about an external field, they will produce an oscillating magnetic field,
due to the combined effect of each of their precessing fields. The frequency of this
oscillating field is ultimately what is measured by the PPM and since it is equal to the
precession frequency of the protons it can be used to determine the strength of the
external field. Fig. 11 below showing the spinning of a proton with a magnetic moment,

H0 z .
, at an angular velocity, , at an angle, , with the external field,

Fig. 10: Orientation of Proton Spins in Zero Magnetic Field and In an Applied External
Field, H0
 Fig. 11: This precession is Generally Known as Larmor Precession

8. CONCLUSION

Therefore, in this experiment of Satellite Attitude Control Magnetometer which is

conducted in the air-conditioning Space System Laboratory of building H2.1 for the satellite
and control research, all of the objectives are achieved successfully. The working principle
of magnetometer and its application in attitude determination and control is explained
thoroughly, using an aid of Arduino programming software tool, whilst constructing a
navigational magnetometer system, which includes a program that controlling the
magnetometer triple axis efficiently, and analyzing the measurements from the
magnetometer, precisely.

9. REFERENCES
1. Dee, J. (2011). Triple axis magnetometer HMC5883L breakout quickstart guide.
SparkFun Electronics. Retrieved 20 March 2017, from
https://www.sparkfun.com/tutorials/301

2. Honeywell. (2013). 3-axis digital compass IC HMC5883L: Advanced information of

datasheet. Morris Plains, NJ: Honeywell Inc..

3. Hollos, S., & Hollos, R. (2008). Signals from the subatomic world: how to build a proton
precession magnetometer [Electronic version]. The Proton Precession Magnetometer.

4. Syed Farooq Akber. (n.d.). Nuclear Magnetic Resonance Medical Imaging. Class lecture
for Nuclear Physics, Department of Physics, University of Karachi, Pakistan.